#include <RawFeatureTrackerConfig.hpp>
Public Member Functions | |
| DEPTHAI_SERIALIZE (FeatureMaintainer, enable, minimumDistanceBetweenFeatures, lostFeatureErrorThreshold, trackedFeatureThreshold) | |
Public Attributes | |
| bool | enable = true |
| float | lostFeatureErrorThreshold = 50000 |
| float | minimumDistanceBetweenFeatures = 50 |
| float | trackedFeatureThreshold = 200000 |
FeatureMaintainer configuration structure.
Definition at line 199 of file RawFeatureTrackerConfig.hpp.
| dai::RawFeatureTrackerConfig::FeatureMaintainer::DEPTHAI_SERIALIZE | ( | FeatureMaintainer | , |
| enable | , | ||
| minimumDistanceBetweenFeatures | , | ||
| lostFeatureErrorThreshold | , | ||
| trackedFeatureThreshold | |||
| ) |
| bool dai::RawFeatureTrackerConfig::FeatureMaintainer::enable = true |
Enable feature maintaining or not.
Definition at line 203 of file RawFeatureTrackerConfig.hpp.
| float dai::RawFeatureTrackerConfig::FeatureMaintainer::lostFeatureErrorThreshold = 50000 |
Optical flow measures the tracking error for every feature. If the point can’t be tracked or it’s out of the image it will set this error to a maximum value. This threshold defines the level where the tracking accuracy is considered too bad to keep the point.
Definition at line 217 of file RawFeatureTrackerConfig.hpp.
| float dai::RawFeatureTrackerConfig::FeatureMaintainer::minimumDistanceBetweenFeatures = 50 |
Used to filter out detected feature points that are too close. Requires sorting enabled in detector. Unit of measurement is squared euclidean distance in pixels.
Definition at line 210 of file RawFeatureTrackerConfig.hpp.
| float dai::RawFeatureTrackerConfig::FeatureMaintainer::trackedFeatureThreshold = 200000 |
Once a feature was detected and we started tracking it, we need to update its Harris score on each image. This is needed because a feature point can disappear, or it can become too weak to be tracked. This threshold defines the point where such a feature must be dropped. As the goal of the algorithm is to provide longer tracks, we try to add strong points and track them until they are absolutely untrackable. This is why, this value is usually smaller than the detection threshold.
Definition at line 226 of file RawFeatureTrackerConfig.hpp.